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Autonomous vehicles (AVs) may benefit the health and safety of drivers across the driving lifespan, but perceptions of drivers are not known. Lived experiences of drivers exposed to AVs in combination with surveys, can more accurately reveal their perceptions. We quantified facilitators and barriers from data collected in older (N = 104) and younger drivers (N = 106). Perceptions were assessed via Autonomous Vehicle User Perception Survey (AVUPS) subscales (i.e., intention to use, barriers, well-being, and acceptance) pertaining to group exposure (simulator first [SF] or autonomous shuttle first [ASF]). We quantified the effects of group, time, and group × time interaction. Multiple linear regressions identified predictors (e.g., optimism, ease of use, life space, driving exposure, and driving difficulty, age, gender, race) of the AVUPS subscales. The regression analyses indicated that optimism and ease of use …